function [wt_imu,rotation_info] = sixteenRotationMove(seg,i,k,ki,wt_tmp,wnb,w_imu,ts,whole_period,rotation_time,hold_on_period,rotation_w_rad)
%         lasting = sum(seg.wat(k,1))-seg.wat(k,1)+i*ts;%到次持续的总时间
        lasting = ki * ts;
        state = floor(mod(lasting,whole_period)/(rotation_time+hold_on_period))+1;
        whether_static = floor(mod(mod(lasting,whole_period),(rotation_time+hold_on_period))/rotation_time);
        if whether_static == 0
            switch state
                case 1
                    wt_imu = [0;0;rotation_w_rad]-(wnb-w_imu);
                case 2
                    wt_imu = [rotation_w_rad;0;0]-(wnb-w_imu);
                case 3
                    wt_imu = [0;0;-rotation_w_rad]-(wnb-w_imu);
                case 4
                    wt_imu = [-rotation_w_rad;0;0]-(wnb-w_imu);
                case 5
                    wt_imu = [-rotation_w_rad;0;0]-(wnb-w_imu);
                case 6
                    wt_imu = [0;0;-rotation_w_rad]-(wnb-w_imu);
                case 7
                    wt_imu = [rotation_w_rad;0;0]-(wnb-w_imu);
                case 8
                    wt_imu = [0;0;rotation_w_rad]-(wnb-w_imu);
                case 9
                    wt_imu = [0;0;-rotation_w_rad]-(wnb-w_imu);
                case 10
                    wt_imu = [-rotation_w_rad;0;0]-(wnb-w_imu);
                case 11
                    wt_imu = [0;0;rotation_w_rad]-(wnb-w_imu);
                case 12
                    wt_imu = [rotation_w_rad;0;0]-(wnb-w_imu);
                case 13
                    wt_imu = [rotation_w_rad;0;0]-(wnb-w_imu);
                case 14
                    wt_imu = [0;0;rotation_w_rad]-(wnb-w_imu);
                case 15
                    wt_imu = [-rotation_w_rad;0;0]-(wnb-w_imu);
                case 16
                    wt_imu = [0;0;-rotation_w_rad]-(wnb-w_imu);
            end
        else
            wt_imu = -(wnb-w_imu);
%             wt_imu = -wt_tmp;
        end
            rotation_info = wt_imu;
end